Pepper to fall: a perception method for sweet pepper robotic harvesting

Intelligent Service Robotics - In this paper we propose a robotic system for picking peppers in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped...     

Spin probe study of semi‐interpenetrating polymer networks based on polyurethane and polymethacrylate functional prepolymers

The motional transition and heterogeneity of semi‐interpenetrating networks (SIPNs) based on polyurethane (PU) with carboxylic groups and methacrylic copolymer (PM) with tertiary amine groups were studied by the electron spin resonance (ESR) spin probe method. The concentration of functional groups in both prepolymers varied from 0 to 0.45 mmol g^?1. Spin‐probed SIPNs show that the temperature‐dependent spectra are sensitive to polymer interactions imposed by functional groups. These interactions determine the free volume distribution in the matrix and temperature at which motional transition takes place. The fraction of free volume increases with functional group concentration and reaches its maximum at 0.25 mmol g^?1. Further increases in the functional group concentration reduce the free volume. The results of the networks with strong interactions are discussed in terms of the interference of the plasticizing effect of the PU component and the formation of possible cluster cross‐links, which restricts segmental motions. Copyright © 2003 Society of Chemical Industry     

Effect of Microstructure on the Accelerated Creep of 20CrMoV12‐1 and P 91 Steels

In the initial part the change of microstructure for steel X20 CrMoV 121 is discussed in terms of the distribution of carbide precipitates and its effects on accelerated creep resistance and hardness are presented. In the following, experimental results of microstructure and accelerated creep resistance are presented for the steels X20CrMoV 121 and P91 annealed for up to 8760 hours at 650°C and 750°C before the testing. A similar evolution of the distribution of carbide particles of a size above 102 nm is found for both steels, while the accelerated creep resistance is diminished much stronger for the steel X20CrMoV 121. This difference is due to a greater stability of NbC than that of VC precipitates, both related to the evolution of the chemical composition of complex chromium, molybdenum and iron carbide particles.     

HLA-A26 subtype A pockets accommodate acidic N-termini of ligands

BACKGROUND: Fiberoptic flexible sigmoidoscopy (FFS) is routinely requested preoperatively as part of evaluation of pelvic masses to exclude colonic involvement by the tumor or concurrent colonic neoplasm. The aim of our study was to evaluate the utility of preoperative FFS in patients with suspected gynecologic malignancy. METHODS: FFS, performed using a 60 cm sigmoidoscope, evaluated (1) presence of bowel involvement by the tumor, (2) extrinsic compression by the tumor, and (3) presence of colonic neoplasms. FFS findings were correlated with surgical findings. RESULTS: A total of 107 women underwent preoperative FFS and subsequent surgery. Eleven patients (11%) had lower gastrointestinal symptoms. At surgery, 63% of pelvic tumors were malignant and 37% were benign. The most common abnormality at FFS was colonic polyps in 23 patients (21%). Colonic adenomas were found in 11 patients (10%). Extrinsic compression by the tumor without mucosal abnormalities was seen in 15 patients (14%). The most common intraoperative finding was tumor adhering to the bowel in 18 patients requiring dissection, but only 1 patient required bowel resection. Eight of these 18 patients had preoperative lower gastrointestinal symptoms. All 15 patients with extrinsic compression at FFS had tumor adhering to the bowel. CONCLUSIONS: Pelvic masses cause extrinsic compression at FFS in 14% of patients. This is suggestive of tumor adherent to the bowel at surgery. However, bowel resection is rarely required because of tumor involvement. Most patients with bowel adherence by tumor have lower gastrointestinal symptoms. Colonic adenomas are found in one tenth of patients, mostly in patients older than 50 years of age. Preoperative FFS does not change the surgical management of pelvic tumors. Screening FFS is indicated in all patients with pelvic tumors over age 50, as in persons with average risk, but is otherwise unnecessary in evaluation of pelvic masses.     

Functionalized oligopolysiloxanes by heterogeneously catalyzed equilibration polymerization reactions

Summary A new general procedure for preparation of functionalized oligopolysiloxanes of predetermined molecular weight is described. It utilizes heterogeneously catalyzed siloxane equilibration polymerization reactions which do not require troublesome and sometimes difficult post-preparative work-up procedures usually encountered with the well known homogeneously catalyzed corresponding reactions. The method is described using as example the preparation of , -telechelic vinyldimethylsiloxy-oligopolydimethylsiloxanes from octamethylcyclotetrasiloxane and 1,3-divinyltetramethyldisiloxane, but reference to the preparations of trimethylsiloxy-, dimethylsiloxy-and carboxypropyldimethylsiloxyoligopolydimethylsiloxanes, oligopolymethylhydridosiloxanes or their copolymers is also made.     

On the critical molecular chain length of polydimethylsiloxane

Because a study of the results reported for the chain dimensions of polydimethylsiloxane (PDMS), critical for the onset of this polymer's non-Newtonian flow behavior, obtained from the viscosity-molecular weight relationships available from the literature, clearly revealed that considerable differences exist between the reported data, a detailed analysis of these data was performed together with an additional examination of 10 new PDMS samples that were selected so as to have molecular weights that would fill the gaps observed in the polymer viscosity–chain length relationship constructed from the accepted literature data. The results obtained were analyzed by using several different procedures integrated into a recently described comparative method that could allow for determination of what is called the most realistic critical value, Z_wc. The latter was determined as 930 PDMS main-chain atoms, which corresponds to this polymer's degree of polymerization of 464.5 and the weight-average molecular weight of 34,500. It is not only shown that after elimination of some clearly erroneous data points from the previously reported relationships the obtained critical chain-length values could very well fit the earlier relationships, but also that appropriate “master” relationships were constructed including 48 pairs of the old and 10 pairs of the new data points. It is suggested that this relationship be accepted as the best-fit viscosity–polymer chain-length dependence for PDMS, and it is pointed out that the obtained PDMS critical chain-length value ranks this polymer's macromolecules as the most flexible of the corresponding long-chain molecules presently known. © 1993 John Wiley & Sons, Inc.     

Motional heterogeneity of polystyrene-block-polybutadiene: a spin probe study

Polystyrene-block-polybutadiene copolymers (SB) with 0.5 mass fraction of styrene were studied by electron spin resonance (ESR) of nitroxide spin probes. The influence of the block length ( and ) and the solvation power of casting solvents on the motional dynamics of spin probe were measured over a wide temperature range. Two nitroxide radicals as spin probes were selected: 2,2,6,6-tetramethyl-4-hydroxypiperidine-1-oxyl benzoate (BzONO) and 2,2,6,6-tetramethyl-4-hydroxypiperidine-1-oxyl (Tempol). Irrespective of the spin probe used two ESR spectral components differing in their motional properties above the phase transition of polybutadiene blocks (PB) were observed. The fast component was assigned to spin probes located in polybutadiene-rich domains and the slow component to spin probes in polystyrene-rich domains. The range of two spectral components and the phase transition of the slow ESR component, T_5mT, depend on the block length. The influence of the interphase and accumulation of free volume in the interphase on the Tempol probe motion was investigated by changing copolymer morphology in the films casted from selective and nonselective solvents. The analysis of the motional heterogeneity from the ratio of the fast and slow motional component presents evidence that in the selective solvent for polystyrene (PS) blocks (2-butanone) the most irregular structure with a large interphase is formed. The difference in fast motion of spin probes indicates that the motional dynamic is related to the change of domain structure.     

Ferritin Protein Regulates the Degradation of Iron Oxide Nanoparticles

Proteins implicated in iron homeostasis are assumed to be also involved in the cellular processing of iron oxide nanoparticles. In this work, the role of an endogenous iron storage protein—namely the ferritin—is examined in the remediation and biodegradation of magnetic iron oxide nanoparticles. Previous in vivo studies suggest the intracellular transfer of the iron ions released during the degradation of nanoparticles to endogenous protein cages within lysosomal compartments. Here, the capacity of ferritin cages to accommodate and store the degradation products of nanoparticles is investigated in vitro in the physiological acidic environment of the lysosomes. Moreover, it is questioned whether ferritin proteins can play an active role in the degradation of the nanoparticles. The magnetic, colloidal, and structural follow‐up of iron oxide nanoparticles and proteins in lysosome‐like medium confirms the efficient remediation of potentially harmful iron ions generated by nanoparticles within ferritins. The presence of ferritins, however, delays the degradation of particles due to a complex colloidal behavior of the mixture in acidic medium. This study exemplifies the important implications of intracellular proteins in processes of degradation and metabolization of iron oxide nanoparticles.